service_manager.h

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/*
 * Copyright (C) 2009, Willow Garage, Inc.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
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 *     contributors may be used to endorse or promote products derived from
 *     this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef ROSCPP_SERVICE_MANAGER_H
#define ROSCPP_SERVICE_MANAGER_H
 
#include "forwards.h"
#include "common.h"
#include "advertise_service_options.h"
#include "service_client_options.h"
 
#include <boost/thread/mutex.hpp>
#include <boost/thread/recursive_mutex.hpp>
 
namespace ros
{
 
class ServiceManager;
typedef boost::shared_ptr<ServiceManager> ServiceManagerPtr;
 
class PollManager;
typedef boost::shared_ptr<PollManager> PollManagerPtr;
 
class XMLRPCManager;
typedef boost::shared_ptr<XMLRPCManager> XMLRPCManagerPtr;
 
class ConnectionManager;
typedef boost::shared_ptr<ConnectionManager> ConnectionManagerPtr;
 
class ROSCPP_DECL ServiceManager
{
public:
  static const ServiceManagerPtr& instance();
 
  ServiceManager();
  ~ServiceManager();
 
  ServicePublicationPtr lookupServicePublication(const std::string& service);
 
  ServiceServerLinkPtr createServiceServerLink(const std::string& service,
                                                bool persistent,
                                                const std::string& request_md5sum, const std::string& response_md5sum,
                                                const M_string& header_values);
 
  void removeServiceServerLink(const ServiceServerLinkPtr& client);
 
  bool lookupService(const std::string& name, std::string& serv_host, uint32_t& serv_port);
 
  bool unadvertiseService(const std::string& serv_name);
 
  bool advertiseService(const AdvertiseServiceOptions& ops);
 
  void start();
  void shutdown();
private:
 
  bool isServiceAdvertised(const std::string& serv_name);
  bool unregisterService(const std::string& service);
 
  bool isShuttingDown() { return shutting_down_; }
 
  L_ServicePublication service_publications_;
  boost::mutex service_publications_mutex_;
 
  L_ServiceServerLink service_server_links_;
  boost::mutex service_server_links_mutex_;
 
  volatile bool shutting_down_;
  boost::recursive_mutex shutting_down_mutex_;
 
  PollManagerPtr poll_manager_;
  ConnectionManagerPtr connection_manager_;
  XMLRPCManagerPtr xmlrpc_manager_;
};
 
} // namespace ros
 
#endif // ROSCPP_SERVICE_MANAGER_H